Abstract: A working method using an AUV includes a step of working on a work object with a work device included in the AUV while causing the AUV to sail along the work object, a step of dropping and sinking a transponder to the bottom of water, a step of causing the AUV to sail toward a return destination, and a step of resuming work on the work object by causing the AUV to sail from a return destination to the vicinity of a work suspended position, at which work on the work object is suspended, based on information obtained by acoustic positioning using the transponder that is sunk to the bottom of water.

Abstract: A charging system includes a charging station having: a base underwater; a pole extending in an upper-lower direction; and a power supplying portion. An AUV includes: an underwater main body; a power receiving portion; a holding device including a pair of guide and holding portions, the pair of guide portions guides the pole to a holding position after the pole contacts the guide portions from a proceeding-direction, the holding portion holds the pole to be rotatable relative to the pole; a thrust generating apparatus generates in a horizontal direction; and a control device controls the thrust generating apparatus. A light emitter at one of the base and the underwater main body, and a light receiver is provided at the other. The control device controls the thrust so the underwater main body reaches a rotational position where the light receiver receives light emitted, the rotational position set relative to the pole.

Abstract: A submersible vessel includes: a hull; a propulsor that propels the hull; a front sensor that sequentially detects locations of an inspection target in front of the hull; a controller that controls the propulsor such that the hull passes through above the detected locations; a movable arm attached to an arm reference point of the hull; an inspection tool at the movable arm that inspects the inspection target; and a position detector that acquires positional information including a position, attitude, or speed of the hull. Based on the information from the position detector, the controller estimates a pass-through position of the arm reference point after a predetermined time. The controller controls the movable arm such that before the time elapses, a positional relation between the arm reference point and inspection tool becomes a positional relation between the estimated pass-through position and a target point on or above each location.

Abstract: An underwater vehicle system includes: a first underwater vehicle configured to perform work in water while moving in a predetermined proceeding direction; and a second underwater vehicle configured to replace the first underwater vehicle and perform work in water. When the second underwater vehicle replaces the first underwater vehicle, the second underwater vehicle approaches the first underwater vehicle based on a signal transmitted from the first underwater vehicle.

Abstract: An underwater power supply system includes: a working apparatus arranged underwater with at least one power receiving pad; a first battery unit detachably attached to the apparatus with a power supplying pad and battery, the pad configured to supply electric power to the power receiving pad in a non-contact state, the battery electrically connected to the power supplying pad; and an underwater sailing body configured to shuttle between the apparatus and a surface ship or an underwater station suspended from the surface ship, the body configured to carry a second battery unit to the apparatus, detach the first battery unit from the apparatus, and attach the second battery unit to the apparatus, the second battery unit including a power supplying pad and battery, the pad configured to supply the electric power to the power receiving pad in a non-contact state, the battery electrically connected to the power supplying pad.

Abstract: A working method using an AUV includes a step of working on a work object with a work device included in the AUV while causing the AUV to sail along the work object, a step of dropping and sinking a transponder to the bottom of water, a step of causing the AUV to sail toward a return destination, and a step of resuming work on the work object by causing the AUV to sail from a return destination to the vicinity of a work suspended position, at which work on the work object is suspended, based on information obtained by acoustic positioning using the transponder that is sunk to the bottom of water.

Abstract: An underwater power supply system includes: a working apparatus arranged underwater with at least one power receiving pad; a first battery unit detachably attached to the apparatus with a power supplying pad and battery, the pad configured to supply electric power to the power receiving pad in a non-contact state, the battery electrically connected to the power supplying pad; and an underwater sailing body configured to shuttle between the apparatus and a surface ship or an underwater station suspended from the surface ship, the body configured to carry a second battery unit to the apparatus, detach the first battery unit from the apparatus, and attach the second battery unit to the apparatus, the second battery unit including a power supplying pad and battery, the pad configured to supply the electric power to the power receiving pad in a non-contact state, the battery electrically connected to the power supplying pad.

Abstract: A charging system includes a charging station having: a base underwater; a pole extending in an upper-lower direction; and a power supplying portion. An AUV includes: an underwater main body; a power receiving portion; a holding device including a pair of guide and holding portions, the pair of guide portions guides the pole to a holding position after the pole contacts the guide portions from a proceeding-direction, the holding portion holds the pole to be rotatable relative to the pole; a thrust generating apparatus generates in a horizontal direction; and a control device controls the thrust generating apparatus. A light emitter at one of the base and the underwater main body, and a light receiver is provided at the other. The control device controls the thrust so the underwater main body reaches a rotational position where the light receiver receives light emitted, the rotational position set relative to the pole.

Abstract: A charging system for an autonomous underwater vehicle includes: a sea floating body; a charging station suspended in water from the body through a string-shaped body and located downstream of the sea floating body by receiving a water flow, the station including a noncontact electricity supplying portion located away from the string-shaped body; and an autonomous underwater vehicle coupled to the station that is rotatable about the string-shaped body, the vehicle including a noncontact electricity receiving portion configured to receive electricity supplied from the supplying portion, wherein: the station takes by the water flow such a posture that the noncontact electricity supplying portion is located downstream of the string-shaped body in a water flow direction; and when the vehicle is coupled to the station, the vehicle takes by the water flow such a posture that the receiving portion is located downstream of the string-shaped body in the water flow direction.

Abstract: An autonomous underwater vehicle including an underwater vehicle main body incorporating a power source, a buoy connected to the underwater vehicle main body through a rope, and an ejector configured to, with the underwater vehicle main body floating on a sea surface, eject the buoy from the underwater vehicle main body by compressed gas in an obliquely upward direction.

Abstract: An underwater actuator includes: a housing to be immersed under water; a cylinder chamber formed in the housing; a piston accommodated in the cylinder chamber so the piston is movable in a sliding manner in the cylinder chamber, the piston dividing the cylinder chamber into a first and a second pressure receiving chambers; a rod extending from the piston to the first pressure receiving chamber side, the rod penetrating the housing; a release chamber formed in the housing, having an internal pressure kept lower than a water pressure outside of the housing; and a switching mechanism including: a first switcher configured to switch a communication state between the second pressure receiving chamber and the outside of the housing to allow or block communication therebetween; and a second switcher configured to switch a communication state between the second pressure receiving chamber and the release chamber to allow or block communication therebetween.

Abstract: An underwater docking system for an autonomous underwater vehicle, the underwater docking system including: an underwater station including a base mount fixed to a seabed and a circular frame member supported by the base mount and parallel to a horizontal plane; and an autonomous underwater vehicle configured to dock with the underwater station while sailing through an upper side of the frame member, wherein: the autonomous underwater vehicle includes an underwater vehicle main body.

Abstract: An approach system for an autonomous underwater vehicle approaching an underwater facility includes: an underwater facility located in water and including a light emitter configured to radially emit light; and an autonomous underwater vehicle including an underwater vehicle main body and a light receiving array provided at the underwater vehicle main body and including a plurality of light receiving elements that are independent from one another.

Abstract: An autonomous underwater vehicle includes: an underwater vehicle main body incorporating a power source; a buoy connected to the underwater vehicle main body through a rope; and an injector configured to, with the underwater vehicle main body floating on a sea surface, inject the buoy from the underwater vehicle main body by compressed gas in an obliquely upward direction.

Abstract: An underwater docking system for an autonomous underwater vehicle, the underwater docking system including: an underwater station including a base mount fixed to a seabed and a circular frame member supported by the base mount and parallel to a horizontal plane; and an autonomous underwater vehicle configured to dock with the underwater station while sailing through an upper side of the frame member, wherein: the autonomous underwater vehicle includes an underwater vehicle main body.

Abstract: A charging system for an autonomous underwater vehicle includes: a sea floating body; a charging station suspended in water from the body through a string-shaped body and located downstream of the sea floating body by receiving a water flow, the station including a noncontact electricity supplying portion located away from the string-shaped body; and an autonomous underwater vehicle coupled to the station that is rotatable about the string-shaped body, the vehicle including a noncontact electricity receiving portion configured to receive electricity supplied from the supplying portion, wherein: the station takes by the water flow such a posture that the noncontact electricity supplying portion is located downstream of the string-shaped body in a water flow direction; and when the vehicle is coupled to the station, the vehicle takes by the water flow such a posture that the receiving portion is located downstream of the string-shaped body in the water flow direction.

Abstract: An underwater actuator includes: a housing to be immersed under water; a cylinder chamber formed in the housing; a piston accommodated in the cylinder chamber so the piston is movable in a sliding manner in the cylinder chamber, the piston dividing the cylinder chamber into a first and a second pressure receiving chambers; a rod extending from the piston to the first pressure receiving chamber side, the rod penetrating the housing; a release chamber formed in the housing, having an internal pressure kept lower than a water pressure outside of the housing; and a switching mechanism including: a first switcher configured to switch a communication state between the second pressure receiving chamber and the outside of the housing to allow or block communication therebetween; and a second switcher configured to switch a communication state between the second pressure receiving chamber and the release chamber to allow or block communication therebetween.